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<div class="title">esf_estimator.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * vfh_estimator.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Mar 22, 2012</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: aitor</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef REC_FRAMEWORK_ESF_ESTIMATOR_H_</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define REC_FRAMEWORK_ESF_ESTIMATOR_H_</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/3d_rec_framework/feature_wrapper/global/global_estimator.h&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;pcl/features/esf.h&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;{</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keyword">namespace </span>rec_3d_framework</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  {</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_e_s_f_estimation.html">   19</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1rec__3d__framework_1_1_e_s_f_estimation.html">ESFEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_estimator.html">GlobalEstimator</a>&lt;PointInT, FeatureT&gt;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;      {</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr PointInTPtr;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        estimate (PointInTPtr &amp; in, PointInTPtr &amp; processed,</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;                  <span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::CloudVectorType &amp; signatures,</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;                  std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; &amp; centroids)</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        {</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_e_s_f_estimation.html">pcl::ESFEstimation&lt;PointInT, FeatureT&gt;</a> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_e_s_f_estimation.html">ESFEstimation</a>;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;          <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;FeatureT&gt;</a> ESF_signature;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;          <a class="code" href="classpcl_1_1rec__3d__framework_1_1_e_s_f_estimation.html">ESFEstimation</a> esf;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;          esf.setInputCloud (in);</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;          esf.compute (ESF_signature);</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;          signatures.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (1);</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;          centroids.resize (1);</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;          signatures[0] = ESF_signature;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;          Eigen::Vector4f centroid4f;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;          <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a> (*in, centroid4f);</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;          centroids[0] = Eigen::Vector3f (centroid4f[0], centroid4f[1], centroid4f[2]);</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;          <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a>(*in, *processed);</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;          <span class="comment">//processed = in;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        }</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        computedNormals ()</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        }</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      };</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  }</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;}</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* REC_FRAMEWORK_ESF_ESTIMATOR_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_e_s_f_estimation_html"><div class="ttname"><a href="classpcl_1_1_e_s_f_estimation.html">pcl::ESFEstimation</a></div><div class="ttdoc">ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud dataset c...</div><div class="ttdef"><b>Definition:</b> esf.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; FeatureT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2d60b6927b31ef89cd3b97e8173ea4aa"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(size_t n)</div><div class="ttdoc">Resize the cloud</div><div class="ttdef"><b>Definition:</b> point_cloud.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_e_s_f_estimation_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_e_s_f_estimation.html">pcl::rec_3d_framework::ESFEstimation</a></div><div class="ttdef"><b>Definition:</b> esf_estimator.h:20</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_estimator_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_estimator.html">pcl::rec_3d_framework::GlobalEstimator</a></div><div class="ttdef"><b>Definition:</b> global_estimator.h:18</div></div>
<div class="ttc" id="agroup__common_html_gaa65b1c8d782e7b776ae682679d2d948f"><div class="ttname"><a href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a></div><div class="ttdeci">PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &amp;cloud_in, const std::vector&lt; int &gt; &amp;indices, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Extract the indices of a given point cloud as a new point cloud</div></div>
<div class="ttc" id="agroup__common_html_gaf5729fae15603888b49743b118025290"><div class="ttname"><a href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a></div><div class="ttdeci">unsigned int compute3DCentroid(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the 3D (X-Y-Z) centroid of a set of points and return it as a 3D vector.</div><div class="ttdef"><b>Definition:</b> centroid.hpp:50</div></div>
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